If you want something to see along the way....
All I remember is a fairly large Amish community north by northeast of Columbia, MO about 30 miles. It took me a few hours to realize there weren't any power lines. Lots of bailing of hay the old fashion way. I'm not a farmer and don't know much but it was fun to watch. Try the county roads instead of state highways.
If you are going through Kansas later this link looks fairly helpful for free camping. It lists all the towns where you can sleep for free.
Free City Park Camping in Kansas